Antiskid control of multi-wheel vehicles using coupled and decoupled Kalman filtering incorporating pitch weight transfer
First Claim
1. A brake controller for controlling an amount of braking force applied to a plurality of wheels of a vehicle running on a surface, each of the plurality of wheels having a sensor for providing an output signal indicative of a corresponding speed of the wheel, the controller comprising:
- a state estimator which estimates an amount of friction between each of the plurality of wheels and the surface based on the output signals of the sensors, the estimated amount of friction for each wheel being based on the estimated amount of friction for the other wheels, and a control output which adjusts the amount of braking force applied to the plurality of wheels based on the estimated amount of friction.
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Accused Products
Abstract
According to one aspect of the invention, a brake controller is provided for controlling an amount of braking force applied to a plurality of wheels of a vehicle running on a surface. Each of the plurality of wheels has a sensor for providing an output signal indicative of a corresponding speed of the wheel. The controller includes a state estimator which estimates an amount of friction between each of the plurality of wheels and the surface based on the output signals of the sensors, the estimated amount of friction for each wheel being based on the estimated amount of friction for the other wheels. The controller further includes a control output which adjusts the amount of braking force applied to the plurality of wheels based on the estimated amount of friction.
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Citations
21 Claims
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1. A brake controller for controlling an amount of braking force applied to a plurality of wheels of a vehicle running on a surface, each of the plurality of wheels having a sensor for providing an output signal indicative of a corresponding speed of the wheel, the controller comprising:
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a state estimator which estimates an amount of friction between each of the plurality of wheels and the surface based on the output signals of the sensors, the estimated amount of friction for each wheel being based on the estimated amount of friction for the other wheels, and a control output which adjusts the amount of braking force applied to the plurality of wheels based on the estimated amount of friction. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A brake controller for controlling an amount of braking force applied to a plurality of wheels of a vehicle running on a surface, each of the plurality of wheels having a sensor for providing an output signal indicative of a corresponding speed of the wheel, the controller comprising:
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state estimator means for estimating an amount of friction between each of the plurality of wheels and the surface based on the output signals of the sensors, the estimated amount of friction for each wheel being based on the estimated amount of friction for the other wheels, and control output means adjusting the amount of braking force applied to the plurality of wheels based on the estimated amount of friction. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method for controlling an amount of braking force applied to a plurality of wheels of a vehicle running on a surface, each of the plurality of wheels having a sensor for providing an output signal indicative of a corresponding speed of the wheel, the method comprising the steps of:
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estimating an amount of friction between each of the plurality of wheels and the surface based on the output signals of the sensors using state estimates arrived at via Kalman filtering of the output signals, the estimated amount of friction for each wheel being based on the estimated amount of friction for the other wheels, and adjusting the amount of braking force applied to the plurality of wheels based on the estimated amount of friction. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification